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It is the prnd indicator switch on the shift shaft of the transmission,or a shift solenoid,or the valves are sticking in the valve body,try some lube guard,added to the transmission,it is great for stuck valves.

check your motor mounts by holding your foot on the brakes, set the E-brake and have someone watch the motor as you shift into reverse and touch the gas a little bit do the same in drive if the motor moves allot back and forth you need new motor and possibly transmission mounts good luck and please rate -jeff